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针对多智能体系统分布式问题建立了智能体的简单模型，并对其进行了形式化描述，提出了多智能体系统的一种协调算法，即通用部分全局规划算法．在该协调算法的作用下，多智能体系统中各个智能体的局部规划／协调器对各自的行为进行规划，从而使整个系统相互协作，共同完成系统的全局任务．因此，它是一种全局协调算法．该算法并不局限于某个具体的应用领域，具有一定的通用性．
Aiming at the distributed problem of multi-agent system, a simple model of agent is established and formalized. A coordinated algorithm of multi-agent system is proposed, which is the general part of global planning algorithm. Under the coordination algorithm, local agents / coordinators of each agent in multi-agent system plan their own behaviors, so that the whole system can cooperate with each other to accomplish the global task of the system. Therefore, it is a global coordination algorithm. The algorithm is not limited to a specific application area, has a certain versatility.